A SLAM Algorithm Based on Adaptive Cubature Kalman Filter
Joint Authors
Sun, Qian
Fu, Yanwei
Yu, Fei
Ben, Yueyang
Lv, Chongyang
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-05-07
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
We need to predict mathematical model of the system and a priori knowledge of the noise statistics when traditional simultaneous localization and mapping (SLAM) solutions are used.
However, in many practical applications, prior statistics of the noise are unknown or time-varying, which will lead to large estimation errors or even cause divergence.
In order to solve the above problem, an innovative cubature Kalman filter-based SLAM (CKF-SLAM) algorithm based on an adaptive cubature Kalman filter (ACKF) was established in this paper.
The novel algorithm estimates the statistical parameters of the unknown system noise by introducing the Sage-Husa noise statistic estimator.
Combining the advantages of the CKF-SLAM and the adaptive estimator, the new ACKF-SLAM algorithm can reduce the state estimated error significantly and improve the navigation accuracy of the SLAM system effectively.
The performance of this new algorithm has been examined through numerical simulations in different scenarios.
The results have shown that the position error can be effectively reduced with the new adaptive CKF-SLAM algorithm.
Compared with other traditional SLAM methods, the accuracy of the nonlinear SLAM system is significantly improved.
It verifies that the proposed ACKF-SLAM algorithm is valid and feasible.
American Psychological Association (APA)
Yu, Fei& Sun, Qian& Lv, Chongyang& Ben, Yueyang& Fu, Yanwei. 2014. A SLAM Algorithm Based on Adaptive Cubature Kalman Filter. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-11.
https://search.emarefa.net/detail/BIM-451624
Modern Language Association (MLA)
Yu, Fei…[et al.]. A SLAM Algorithm Based on Adaptive Cubature Kalman Filter. Mathematical Problems in Engineering No. 2014 (2014), pp.1-11.
https://search.emarefa.net/detail/BIM-451624
American Medical Association (AMA)
Yu, Fei& Sun, Qian& Lv, Chongyang& Ben, Yueyang& Fu, Yanwei. A SLAM Algorithm Based on Adaptive Cubature Kalman Filter. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-11.
https://search.emarefa.net/detail/BIM-451624
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-451624